[136] | 1 | #ifndef _3DV_DISK_WRITER_H
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| 2 | #define _3DV_DISK_WRITER_H
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| 3 |
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| 4 | /* 3dv-client/disk_writer.h
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| 5 | *
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| 6 | * Copyright (C) 2013 VisLab
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| 7 | *
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| 8 | * This file is part of lib3dv; you can redistribute it and/or modify
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| 9 | * it under the terms of the GNU Lesser General Public License as published by
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| 10 | * the Free Software Foundation; either version 3 of the License, or (at
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| 11 | * your option) any later version.
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| 12 | *
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| 13 | * This program is distributed in the hope that it will be useful, but
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| 14 | * WITHOUT ANY WARRANTY; without even the implied warranty of
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| 15 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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| 16 | * General Public License for more details.
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| 17 | *
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| 18 | * You should have received a copy of the GNU Lesser General Public License
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| 19 | * along with this program; if not, see <http://www.gnu.org/licenses/>.
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| 20 | */
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| 21 |
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| 22 | #include "file.h"
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| 23 |
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| 24 | #include <boost/asio/io_service.hpp>
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| 25 | #include <boost/filesystem/path.hpp>
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| 26 | #include <boost/shared_ptr.hpp>
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| 27 | #include <boost/thread/thread.hpp>
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| 28 | #include <boost/filesystem.hpp>
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| 29 | #include <iostream>
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| 30 | #include <fstream>
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| 31 |
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| 32 | #include <string>
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| 33 | #include <vector>
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| 34 |
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| 35 | #include <stdint.h>
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| 36 |
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| 37 | #ifdef ARCHIVE
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| 38 | class archive;
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| 39 | #endif
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| 40 |
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| 41 | class disk_writer
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| 42 | {
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| 43 | public:
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| 44 |
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| 45 | disk_writer(const std::vector<boost::filesystem::path>& paths, data_file_format::types data_file_format, bool autonumber, device_params params, uint8_t guid_type, uint8_t log_level);
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| 46 |
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| 47 | #ifdef ARCHIVE
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| 48 | disk_writer(const std::vector<boost::filesystem::path>& paths, const std::string& archive_name, archive_file_format::types archive_format, data_file_format::types data_file_format, bool autonumber, device_params params, uint8_t guid_type, uint8_t log_level);
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| 49 | #endif
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| 50 |
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| 51 | void image_callback(boost::shared_ptr<const lib3dv::image> image, uint32_t guid);
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| 52 |
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| 53 | void terrain_callback(boost::shared_ptr<const lib3dv::terrain> terrain, uint32_t guid);
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| 54 |
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| 55 | void obstacles_callback(boost::shared_ptr<const std::vector<lib3dv::obstacle> > obstacles, uint32_t guid);
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| 56 |
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| 57 | void motion_callback(boost::shared_ptr<const lib3dv::motion> pose, uint32_t guid);
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| 58 |
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| 59 | void classification_callback(boost::shared_ptr<const lib3dv::classification> classification, uint32_t guid);
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| 60 |
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| 61 | void run();
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| 62 |
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| 63 | void stop();
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| 64 |
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| 65 | private:
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| 66 |
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| 67 | struct disk_queue
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| 68 | {
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| 69 | disk_queue(const boost::filesystem::path& path, data_file_format::types data_file_format, uint8_t log_level);
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| 70 |
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| 71 | #ifdef ARCHIVE
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| 72 | disk_queue(const boost::filesystem::path& path, const std::string& archive_name, archive_file_format::types archive_format, data_file_format::types data_file_format,device_params params, uint8_t log_level);
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| 73 | #endif
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| 74 |
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| 75 | ~disk_queue();
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| 76 |
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| 77 | boost::asio::io_service m_io_service;
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| 78 | boost::asio::io_service::work* m_io_service_work;
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| 79 |
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| 80 | boost::filesystem::path m_path;
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| 81 | data_file_format::types m_data_file_format;
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| 82 | #ifdef ARCHIVE
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| 83 | archive* m_archive;
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| 84 | #endif
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| 85 | uint8_t m_log_level;
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| 86 | };
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| 87 |
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| 88 | bool m_autonumber;
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| 89 | uint8_t m_log_level;
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| 90 | uint8_t m_guid_type;
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| 91 | std::vector<boost::shared_ptr<disk_queue> > m_disk_queues;
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| 92 | boost::thread_group m_disk_queue_threads;
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| 93 | };
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| 94 |
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| 95 | #endif
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